Improving robot arm control for safe and robust haptic cooperation in orthopaedic procedures

Cruces, R. A. Castillo; Wahrburg, Jürgen

doi:10.1002/rcs.156

Cited by 15 publications

(3 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“… 7 8 With the development of computer assisted surgery, spine robot system had been developed for pedicle screws insertion and even some spine robot system has already been used in clinic. 13 14 15 16 17 18 A biplane fluoroscopy guided robot system (BFRS) was developed by Kim et al . 15 for surgical robotic systems, minimally invasive surgeries and cooperative robotic systems, as well as enhanced surgical planning and navigation with preoperative and intraoperative image data.…”

Section: Discussionsmentioning

confidence: 99%

Robot assisted navigated drilling for percutaneous pedicle screw placement: A preliminary animal study

Wang

Zhou

et al. 2015

IJOO

View full text Add to dashboard Cite

Background:There is much more radiation exposure to the surgeons during minimally invasive pedicle screws placement. In order to ease the surgeon's hand-eye coordination and to reduce the iatrogenic radiation injury to the surgeons, a robot assisted percutaneous pedicle screw placement is useful. This study assesses the feasibility and clinical value of robot assisted navigated drilling for pedicle screw placement and the results thus achieved formed the basis for the development of a new robot for pedicle screw fixation surgery.Materials and Methods:Preoperative computed tomography (CT) of eight bovine lumbar spines (L1–L5) in axial plane were captured for each vertebra, the entry points and trajectories of the screws were preoperatively planned. On the basis of preoperative CT scans and intraoperative fluoroscopy, we aligned the robot drill to the desired entry point and trajectory, as dictated by the surgeon's preoperative plan. Eight bovine lumbar spines were inserted 80 K-wires using the spine robot system. The time for system registration and pedicle drilling, fluoroscopy times were measured and recorded. Postoperative CT scans were used to assess the position of the K-wires.Results:Assisted by spine robot system, the average time for system registration was (343.4 ± 18.4) s, the average time for procedure of drilling one pedicle screw trajectory was (89.5 ± 6.1) s, times of fluoroscopy for drilling one pedicle screw were (2.9 ± 0.8) times. Overall, 12 (15.0%) of the 80 K-wires violated the pedicle wall. Four screws (5.0%) were medial to the pedicle and 8 (10.5%) were lateral. The number of K-wires wholly within the pedicle were 68 (85%).Conclusions:The preliminary study supports the view that computer assisted pedicle screw fixation using spinal robot is feasible and the robot can decrease the intraoperative fluoroscopy time during the minimally invasive pedicle screw fixation surgery. As spine robotic surgery is still in its infancy, further research in this field is worthwhile especially the accuracy of spine robot system should be improved.

show abstract

Section: Discussionsmentioning

confidence: 99%

Robot assisted navigated drilling for percutaneous pedicle screw placement: A preliminary animal study

Wang

Zhou

et al. 2015

IJOO

View full text Add to dashboard Cite

show abstract

“…Under such master-salve control, many robotic systems are currently assisting surgery including: ProBot in prostate surgery [1]; Robodoc in orthopedic surgery [2]; daVinci in cardiac, gynecologic, and laparoscopic surgeries [3][4][5][6]; and neuroArm in microscopic neurosurgery [7]. Besides providing the surgeon with the visual information about the operation site, all these systems permit the surgeon to maneuver the surgical tool via hand controllers.…”

Section: Introductionmentioning

confidence: 99%

Suitability of Two Models of Torque Feedback for Performing a Robot-Assisted Circular Tracing Task

Trejo

2013

2013 IEEE International Conference on Systems, Man, and Cybernetics

View full text Add to dashboard Cite

In robot-assisted surgery, haptic devices as hand controllers play an important role in the surgeon's ability of manipulating tissues. Most research activities have focused on providing force feedback as haptic information. Considering a circular tracing task, we presented two models of torque feedback. On a Virtual Reality simulator of neuroArm, a robotic system for microscopic neurosurgery, we investigated the suitability of these models for rendering torque feedback of each rotational degree-of-freedom. Without sacrificing translational and rotational motion ranges, we verified that the device PHANToM Premium 1.5/6DOF is adequate as a hand controller of neuroArm to replace the modified version of PHANToM Premium 1.5 interfacing originally with neuroArm. Using the device PHANToM Premium 1.5/6DOF, our preliminary results yielded a suitability of both models of torque feedback for performing a circular tracing task assisted by neuroArm.

show abstract

“…The complement of HRI through the application of suitable interaction methods and interfaces has been an essential factor as well as a challenge in the robot industry. Recent development of robotics has introduced haptic interaction, through which the users can feel both virtual and real environments, such as in teleoperations and telesurgeries [10]. There have been many works providing technical and theoretical support for HRI to be more efficient and suitable.…”

Section: Introductionmentioning

confidence: 99%

An Interactive Astronaut-Robot System with Gesture Control

Liu

Luo

2016

Computational Intelligence and Neuroscience

View full text Add to dashboard Cite

Human-robot interaction (HRI) plays an important role in future planetary exploration mission, where astronauts with extravehicular activities (EVA) have to communicate with robot assistants by speech-type or gesture-type user interfaces embedded in their space suits. This paper presents an interactive astronaut-robot system integrating a data-glove with a space suit for the astronaut to use hand gestures to control a snake-like robot. Support vector machine (SVM) is employed to recognize hand gestures and particle swarm optimization (PSO) algorithm is used to optimize the parameters of SVM to further improve its recognition accuracy. Various hand gestures from American Sign Language (ASL) have been selected and used to test and validate the performance of the proposed system.

show abstract

Improving robot arm control for safe and robust haptic cooperation in orthopaedic procedures

Abstract: A solution to assure a good performance of a hands-on robotic arm at singularity configurations is proposed.

Cited by 15 publications

References 13 publications

Robot assisted navigated drilling for percutaneous pedicle screw placement: A preliminary animal study

Robot assisted navigated drilling for percutaneous pedicle screw placement: A preliminary animal study

Suitability of Two Models of Torque Feedback for Performing a Robot-Assisted Circular Tracing Task

An Interactive Astronaut-Robot System with Gesture Control

Contact Info

Product

Resources

About